version: 66.03
glider: 126
mission: 7
dive: 23
start: 2 21 108 1 10 26
data:
$ID,126
$MISSION,7
$DIVE,23
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51702
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,548.98138
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-620084.5
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2706
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10.1
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,2825
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.942498
$PRESSURE_SLOPE,0.000116483
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,005456,1257.253,12033.024,37,1.6,37,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.11
$_SM_ANGLEo,-56.1
$GPS2,010933,1257.513,12032.777,12,1.4,12,-0.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,TUBILE
$TGT_LATLONG,1312.400,12024.730
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,333.1,31154,-23.3,-10.000
$D_GRID,941
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.46,-86.6,0.0,0.0,0,89,0.00,0.00,-67.35,0.000,6,0.000,0.000,418,2305,3180
$GC,91,-2.46,-86.6,0.4,-16.7,13,108,9.98,1.80,0.00,0.000,4,0.176,0.041,2166,3349,3180
$GC,361,-2.34,-86.6,71.6,-20.4,61,367,0.15,1.73,0.00,0.000,6,0.134,0.025,2192,2273,3182
$GC,704,-2.32,-86.6,131.7,-16.4,122,710,0.00,1.88,0.00,0.000,4,0.000,0.042,2192,3349,3183
$GC,856,-2.30,-86.6,154.2,-14.7,149,862,0.00,1.73,0.00,0.000,6,0.000,0.026,2192,2281,3184
$GC,1199,-2.30,-86.6,200.8,-13.5,210,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2274,3184
$GC,1541,-2.30,-86.6,245.8,-13.0,271,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2273,3184
$GC,1867,-2.30,-86.6,287.3,-12.5,305,1871,0.00,1.88,0.00,0.000,4,0.000,0.047,2192,3344,3183
$GC,1961,-2.30,-86.6,299.7,-13.0,313,1968,0.00,1.80,0.00,0.000,6,0.000,0.029,2192,2270,3183
$GC,2286,-2.30,-86.6,338.9,-11.9,344,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2263,3182
$GC,2605,-2.32,-86.6,375.6,-11.0,374,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2263,3179
$GC,2923,-2.34,-86.6,411.1,-11.0,404,2927,0.00,1.88,0.00,0.000,4,0.000,0.051,2192,3350,3177
$GC,3017,-2.34,-86.6,422.4,-12.5,412,3025,0.00,1.80,0.00,0.000,6,0.000,0.032,2192,2291,3177
$GC,3343,-2.36,-86.6,459.7,-11.9,443,3347,0.00,1.88,0.00,0.000,4,0.000,0.054,2192,3353,3174
$GC,3433,-2.36,-86.6,470.9,-12.2,451,3436,0.00,1.77,0.00,0.000,6,0.000,0.034,2192,2301,3173
$GC,3771,-2.39,-86.6,509.3,-11.3,479,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2301,3172
$GC,4080,-2.41,-86.6,543.2,-10.6,494,4083,0.00,1.90,0.00,0.000,4,0.000,0.067,2192,3348,3168
$GC,4128,-2.41,-86.6,549.1,-12.1,496,4133,0.00,1.80,0.00,0.000,6,0.000,0.038,2192,2321,3168
$GC,4456,-2.44,-86.6,584.4,-10.6,512,4460,0.00,1.95,0.00,0.000,4,0.000,0.076,2191,1253,3167
$GC,4513,-2.47,-86.6,590.5,-10.8,514,4517,0.12,1.85,0.00,0.000,6,0.077,0.058,2163,2290,3166
$GC,4832,-2.47,-86.6,627.4,-11.6,530,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2291,3165
$GC,5144,-2.47,-86.6,659.7,-10.2,545,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2291,3162
$GC,5451,-2.47,-86.6,693.2,-11.3,560,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2291,3161
$GC,5760,-2.47,-86.6,728.5,-11.4,575,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2291,3160
$GC,6069,-2.47,-86.6,762.8,-11.2,590,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2291,3158
$GC,6380,-2.47,-86.6,796.4,-10.0,605,6384,0.00,2.53,0.00,0.000,4,0.000,0.192,2163,3353,3157
$GC,6524,-2.47,-86.6,811.3,-10.3,611,6531,0.00,2.05,0.00,0.000,6,0.000,0.101,2162,2302,3155
$GC,6842,-2.51,-102.1,841.7,-8.6,627,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2301,3155
$GC,7148,-2.51,-102.1,872.6,-10.1,642,7152,0.00,1.83,0.00,0.000,4,0.000,0.058,2162,1262,3153
$GC,7261,-2.53,-112.3,882.7,-9.1,647,7264,0.00,1.83,0.00,0.000,6,0.000,0.038,2162,2333,3153
$GC,7594,-2.53,-112.3,920.0,-12.0,663,7598,0.00,1.90,0.00,0.000,4,0.000,0.054,2162,1263,3152
$GC,7677,-2.53,-112.3,930.0,-11.3,666,7685,0.00,1.77,0.00,0.000,6,0.000,0.038,2162,2290,3152
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7789,-0.50,0.0,942.3,11.5,672,7867,2.12,0.00,69.53,1.409,6,0.114,0.000,2595,1961,2825
$STATE,7867,end apogee,CONTROL_FINISHED_OK
$STATE,7867,begin climb
$GC,7869,2.50,112.3,945.3,0.0,676,7973,3.03,0.00,98.18,1.380,6,0.071,0.000,3251,1961,2367
$GC,8276,2.46,113.3,912.8,9.9,696,8280,0.00,1.92,0.00,0.000,4,0.000,0.071,3251,918,2361
$GC,8426,2.41,113.3,897.0,10.1,702,8433,0.00,1.80,0.00,0.000,6,0.000,0.035,3251,1954,2361
$GC,8742,2.37,113.3,862.7,11.8,718,8746,0.15,1.92,0.00,0.000,4,0.123,0.073,3220,910,2359
$GC,8858,2.34,113.3,849.1,11.5,723,8862,0.00,1.80,0.00,0.000,6,0.000,0.042,3220,1944,2359
$GC,9185,2.34,115.7,814.5,9.8,739,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1944,2358
$GC,9494,2.36,125.8,785.1,9.1,754,9510,0.00,1.90,11.50,1.219,4,0.000,0.052,3220,3011,2311
$GC,9611,2.36,125.8,773.5,10.4,758,9614,0.00,1.88,0.00,0.000,6,0.000,0.043,3220,1940,2311
$GC,9931,2.37,132.3,743.5,9.4,774,9940,0.00,0.00,7.28,1.101,6,0.000,0.000,3220,1940,2285
$GC,10241,2.38,135.2,712.6,9.7,789,10250,0.00,1.92,4.20,0.854,4,0.000,0.067,3220,909,2273
$GC,10277,2.35,135.2,708.7,10.7,790,10284,0.00,1.83,0.00,0.000,6,0.000,0.041,3220,1961,2273
$GC,10592,2.35,135.2,676.5,10.2,806,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1961,2273
$GC,10902,2.36,136.7,646.1,9.9,821,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1962,2272
$GC,11211,2.36,136.7,615.5,10.6,836,11214,0.00,1.83,0.00,0.000,4,0.000,0.052,3220,3009,2272
$GC,11255,2.36,136.7,610.7,11.0,838,11259,0.00,1.85,0.00,0.000,6,0.000,0.043,3220,1961,2272
$GC,11586,2.36,136.7,575.8,10.3,854,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1961,2272
$GC,11896,2.36,136.7,543.2,10.4,869,11900,0.00,1.85,0.00,0.000,4,0.000,0.050,3220,3014,2272
$GC,11979,2.36,137.7,535.1,9.9,872,11987,0.00,1.83,3.85,0.731,6,0.000,0.040,3220,1970,2263
$GC,12294,2.38,151.1,505.9,8.8,888,12309,0.00,0.00,12.85,1.078,6,0.000,0.000,3220,1970,2209
$GC,12610,2.38,153.2,475.3,9.8,914,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1970,2208
$GC,12928,2.38,153.2,444.3,10.2,944,12932,0.00,1.85,0.00,0.000,4,0.000,0.051,3220,3010,2208
$GC,13152,2.40,162.2,422.0,9.2,964,13167,0.00,1.77,10.90,0.999,6,0.000,0.039,3220,1975,2163
$GC,13487,2.40,163.6,389.7,9.9,995,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1975,2162
$GC,13806,2.41,168.1,359.2,9.6,1025,13818,0.00,1.90,6.75,0.867,4,0.000,0.052,3220,3018,2139
$GC,13936,2.41,170.3,345.7,9.8,1036,13946,0.00,1.80,3.70,0.640,6,0.000,0.044,3220,1986,2130
$GC,14272,2.41,172.4,312.5,9.8,1068,14276,0.00,1.92,0.00,0.000,4,0.000,0.063,3220,910,2130
$GC,14396,2.42,173.7,299.9,9.9,1079,14407,0.00,1.80,4.72,0.724,6,0.000,0.031,3220,1980,2116
$GC,14725,2.45,177.4,267.4,9.7,1110,14737,0.00,1.83,4.85,0.714,4,0.000,0.051,3220,3001,2101
$GC,14990,2.48,185.8,241.0,9.3,1141,15008,0.12,1.73,8.82,0.841,6,0.080,0.036,3251,1986,2067
$GC,15345,2.49,191.0,204.6,9.5,1204,15356,0.00,0.00,5.95,0.738,6,0.000,0.000,3251,1986,2045
$GC,15695,2.50,197.1,168.2,9.5,1266,15707,0.00,1.98,6.90,0.742,4,0.000,0.058,3251,914,2021
$GC,15819,2.51,200.4,155.7,9.7,1288,15831,0.00,1.83,4.62,0.630,6,0.000,0.028,3251,2000,2006
$GC,16168,2.57,227.8,124.4,7.6,1350,16196,0.00,0.00,23.58,0.807,6,0.000,0.000,3251,1999,1896
$GC,16535,2.66,247.1,92.3,8.3,1415,16558,0.15,1.95,16.98,0.754,4,0.066,0.050,3295,911,1816
$GC,16740,2.66,247.3,73.5,10.0,1451,16746,0.00,1.80,0.00,0.000,6,0.000,0.026,3295,2006,1815
$GC,17083,2.78,299.6,54.9,5.5,1512,17132,0.00,1.73,43.03,0.719,4,0.000,0.043,3295,3000,1603
$GC,17206,2.83,310.9,44.5,9.0,1534,17224,0.08,1.70,10.32,0.646,6,0.061,0.029,3324,1996,1557
$GC,17564,2.86,310.9,9.0,10.2,1597,17569,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1996,1555
$STATE,17629,end climb,SURFACE_DEPTH_REACHED
$STATE,17629,begin surface coast
$FINISH,0.3,1.021885
$STATE,17647,end surface coast,CONTROL_FINISHED_OK
$STATE,17647,begin surface
$SM_CCo,17667,138.00,0.647,0,0,586,548.98
$SM_GC,-5.26,0.00,0.00,138.00,0.000,0.000,0.647,416,2311,586,-10.53,0.31,548.98
$IRIDIUM_FIX,1249.88,12032.42,170597,010124
$TT8_MAMPS,0.026078
$HUMID,1695
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.20
$XPDR_PINGS,384
$24V_AH,23.1,3.612
$10V_AH,10.1,2.759
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.650,86.500,358.500,138.000,0.000,137.726,251.706,132.682,107.250,0.000,0.000,12.472,2639.563,11625.125,612.547,3097.267,732.996,0.000,1972.542,0.000,3048.285,0.000,82.428
$DEVICE_MAMPS,175.643,191.750,1408.979,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1094.906,1385.492,618.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91634,1612
$CAP_FILE_SIZE,163131,0
$CFSIZE,260165632,255389696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210208,060826,1259.547,12032.208,41,1.8,41,-0.9